hafidzazmi / dual-quaternion-library

Dual Quaternion (i.e Rotation & Translation) Library for c++

Dual-Quaternion-Library-C++

This library was build for Quaternion & Dual Quaternion Calculation Tutorial.

Quaternion::

Name	Type	Description
Create	std::array<double, 4>	Create Quaternion Rotation, Angle in Degree
Conjugate	std::array<double, 4>	Quaternion Conjugate
Normalize	double	Normalize Quaternion , Unit Quaternion = 1
Add	std::array<double, 4>	Add Two Quaternions
Subtract	std::array<double, 4>	Subtract Two Quaternions
Multiply	std::array<double, 4>	Multiply Two Quaternions
MultiplyScalar	std::array<double, 4>	Multiply Quaternion with scalar value

DualQuaternion::

Name	Type	Description
Create	std::array<double, 8>	Create Dual Quaternion Rotation and Translation, Angle in Degree
Rotation	std::array<double, 8>	Return Dual Quaternion Pure Rotation
Translation	std::array<double, 4>	Return Vector Quaternion Translation
Conjugate	std::array<double, 8>	Dual Quaternion Conjugate
Add	std::array<double, 8>	Add Two Dual Quaternions
Subtract	std::array<double, 8>	Subtract Two Dual Quaternions
Multiply	std::array<double, 8>	Multiply Two Dual Quaternions

Quaternion::Create

Create a quaternion rotation based on the equation below :

where :

Example :
double Angle = 90; //in Degrees
std::array<int, 3> DirectionOfRotation = {0,1,0};
std::array<double, 4> Quaternion1;
Quaternion1 = Quaternion::Create(Angle,DirectionOfRotation);

Quaternion::Conjugate

Return Quaternion Conjugate based on the equation below :

Example :
Quaternion::Conjugate(Quaternion1);

Quaternion::Normalize

Return Quaternion Normalize based on the equation below :

Note : Normalize Unit Quaternion will return 1

Example :
Quaternion::Normalize(Quaternion1);

Quaternion::Add

Add two Quaternions (P + Q) based on the equation below :

Example :
Quaternion::Add(Quaternion1,Quaternion2);

Note :

This library used std::array<>
Any improvment are appreciated